CN104889998B - Under-actuated robot finger device with enveloping and clamping functions - Google Patents
Under-actuated robot finger device with enveloping and clamping functions Download PDFInfo
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- CN104889998B CN104889998B CN201510383164.1A CN201510383164A CN104889998B CN 104889998 B CN104889998 B CN 104889998B CN 201510383164 A CN201510383164 A CN 201510383164A CN 104889998 B CN104889998 B CN 104889998B
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Abstract
A finger device of an under-actuated robot with enveloping and clamping functions belongs to the technical field of robots and comprises a base, two finger sections, a joint shaft, a driver, a transmission part, two transmission wheels, two connecting rods, a rotating shaft, a shifting block and a spring part. An output shaft of the driver is connected with a first connecting rod, one end of the first connecting rod is sleeved on the near joint shaft, and the other end of the first connecting rod is embedded with one end of a second connecting rod in a sliding manner; the two driving wheels are respectively sleeved on the two joint shafts, two ends of the spring piece are respectively connected with the first driving wheel and the base, and the spring piece enables the shifting block to lean against the base. The device realizes the special function of parallel self-adaptive underactuated object grabbing. The device has multiple modes of grabbing: the inward holding or outward opening grabbing of the parallel opening and closing tail end finger sections is realized, and the self-adaptive grabbing can be realized; meanwhile, the grabbing range is large, the size is small, the appearance is humanoid, the flexibility is realized, the structure is simple and reliable, the cost is low, fewer drivers are used for driving more finger rotating joints, and a sensing and control system is not needed.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a structural design of an under-actuated robot finger device with enveloping and clamping functions.
Background
The human hand has the characteristics of more freedom degrees, small volume, large output force and more grabbing modes, which brings difficulty to the development of the anthropomorphic robot hand simulating the human hand. The robot hand can grasp an object and operate by moving the platform and the arm. The existing dexterous hand is a highest-end device simulating a human hand, has a great number of active control degrees of freedom, is flexible in action, is very complex to control, is expensive in system, is difficult to adapt to an unknown environment independently, is difficult to complete a simple object grabbing action and needs complex programming, needs different programming for grabbing different objects, is high in cost and small in output, and has the adaptability needing to use a sensing and control system. These factors make it difficult to widely popularize and apply the product.
The self-adaptive under-actuated robot hand adopts a small number of motors to drive a plurality of freedom joints, although the high active control flexibility of similar dexterous hands is lacked, because the number of the motors is small, the motor hiding the palm can select larger power and volume, the output force is large, meanwhile, the feedback system of a pure mechanical type does not need to be sensitive to the environment and can also realize stable grabbing, automatically adapts to objects with different shapes and sizes, and the requirements of real-time electronic sensing and closed-loop feedback control are absent, the control is simple and convenient, and the manufacturing cost is reduced.
When an object is grabbed, two grabbing methods are mainly adopted, one is to hold the object by hand, and the other is to hold the object by hand. The pinching is to use the fingertip part of the end finger to clamp an object, and two points or two soft finger surfaces are used to contact the object, mainly aiming at small-size objects or larger objects with opposite surfaces; the holding is realized by enveloping the object with a plurality of finger segments of the fingers to realize the contact of a plurality of points, thereby achieving more stable shape envelope grabbing. The industrial gripper generally adopts a pinching mode, is difficult to have a stable gripping function and cannot adapt to stable envelope gripping of objects with various shapes; the self-adaptive under-actuated finger can be held in a self-adaptive object enveloping manner, but cannot be held and grabbed; the coupled multi-joint hand can realize simultaneous rotation of multiple joints, can realize pinching and cannot realize stable multi-point enveloping holding for objects in various shapes. All three hands have great lifting space. In reality, a robot hand which has a pinching function and can realize stable self-adaptive envelope gripping is very needed.
The existing double-joint same-direction transmission composite under-actuated robot finger device, such as Chinese patent CN102161204B, can realize the functions of coupling and rotating a plurality of joints first and then self-adaptively grabbing, and has the defect that the grabbing range of the device is small; when the object is grabbed, the object is required to be close to the base and the near finger section initially, so that grabbing efficiency is reduced; parallel pinching cannot be implemented, and outward parallel stretching for grabbing objects cannot be realized.
There is a five-link clamping device with two degrees of freedom under actuated fingers, as in US8973958B2, comprising five links, springs, mechanical constraints. When the device works, the posture of the tail end finger section is kept at the beginning stage to perform the proximal joint bending action, and then the functions of parallel pinching, outward stretching and grabbing or self-adaptive enveloping and holding can be realized according to the position of an object. The device has the disadvantages of small grabbing range, large volume of the multi-link mechanism, non-anthropomorphic appearance, lack of flexibility and high manufacturing cost.
The underactuated robot finger device with the enveloping and clamping functions can better realize a plurality of important targets of more grabbing modes, more joint degrees of freedom, fewer drivers and stronger self-adaptability.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides an under-actuated robot finger device with enveloping and clamping functions, which has multiple grabbing modes: the inward holding or outward opening grabbing of the parallel opening and closing tail end finger sections is realized, and the self-adaptive grabbing can be realized; meanwhile, the grabbing range is large, the size is small, the appearance is humanoid, the flexibility is realized, the structure is simple and reliable, the cost is low, fewer drivers are used for driving more finger rotating joints, and a sensing and control system is not needed.
The technical scheme of the invention is as follows:
the invention relates to an under-actuated robot finger device with enveloping and clamping functions, which comprises a base, a first finger section, a second finger section, a proximal joint shaft and a distal joint shaft; the method is characterized in that: the under-actuated robot finger device with the enveloping and clamping functions further comprises a driver, a first transmission wheel, a second transmission wheel, a transmission part, a first connecting rod, a second connecting rod, a rotating shaft, a shifting block and a spring part; the driver is fixedly connected with the base, an output shaft of the driver is connected with the first connecting rod, one end of the first connecting rod is sleeved on the near joint shaft, and the other end of the first connecting rod is embedded with one end of the second connecting rod in a sliding manner; the proximal joint shaft is sleeved in the base; the first finger section is movably sleeved on the proximal joint shaft; the far joint shaft is movably sleeved in the first finger section; the second finger section is fixedly sleeved on the distal joint shaft; the first driving wheel is movably sleeved on the near joint shaft, and two ends of the spring part are respectively connected with the first driving wheel and the base; one end of the shifting block is fixedly connected with the first transmission wheel, the other end of the shifting block is movably contacted with the base, and the spring piece enables the shifting block to lean against the base; the second driving wheel is fixedly sleeved on the far joint shaft; the rotating shaft is sleeved on the second driving wheel, and the axis of the rotating shaft is parallel to and does not coincide with the axis of the second driving wheel; setting the central point of the first driving wheel as A, the central point of the second driving wheel as B, the central point of the rotating shaft as C, and the included angle formed by the line segment AB and the line segment BC to be more than 90 degrees; the other end of the second connecting rod is sleeved on the rotating shaft; the transmission part is connected with the first transmission wheel and the second transmission wheel.
The invention relates to an under-actuated robot finger device with enveloping and clamping functions, which is characterized in that: the driver adopts a motor, an air cylinder or a hydraulic cylinder.
The invention relates to an under-actuated robot finger device with enveloping and clamping functions, which is characterized in that: the spring part adopts a tension spring, a pressure spring, a leaf spring or a torsion spring.
The invention relates to an under-actuated robot finger device with enveloping and clamping functions, which is characterized in that: the transmission part adopts a transmission belt, a tendon rope or a chain, the first transmission wheel adopts a belt wheel, a rope wheel or a chain wheel, the second transmission wheel adopts a belt wheel, a rope wheel or a chain wheel, and the transmission part, the first transmission wheel and the second transmission wheel are matched to form a transmission relation.
The invention relates to an under-actuated robot finger device with enveloping and clamping functions, which is characterized in that: the sliding embedding directions of the first connecting rod and the second connecting rod are parallel to the line segment AC.
Compared with the prior art, the invention has the following advantages and prominent effects:
the device comprehensively realizes the special function of parallel self-adaptive under-actuated object grabbing by utilizing a pair of transmission wheel mechanisms, a sliding embedded swinging double connecting rod, a sleeved movable middle finger section, a spring piece and the like. The device has multiple modes of grabbing: the inward holding or outward opening grabbing of the parallel opening and closing tail end finger sections is realized, and the self-adaptive grabbing can be realized; meanwhile, the grabbing range is large, the size is small, the appearance is humanoid, the flexibility is realized, the structure is simple and reliable, the cost is low, fewer drivers are used for driving more finger rotating joints, and a sensing and control system is not needed.
Drawings
Fig. 1 is a front external view of an embodiment of an under-actuated robotic finger device having an envelope and grip function provided by the present invention.
Fig. 2 is a left side external view of fig. 1.
Fig. 3 is a sectional view (front sectional view) of fig. 1.
Fig. 4 is a sectional view (side sectional view) of fig. 2.
Fig. 5, 6 and 7 are schematic diagrams of a second finger segment translation object clamping process, which is one way of grabbing the object according to the embodiment.
Fig. 8, 9, 10, 11, and 12 are schematic diagrams of another way of gripping an object in the present embodiment, namely, an adaptive object gripping process.
In fig. 1 to 12:
1-driver, 2-base, 3-first finger section,
4-second finger section, 5-proximal joint axis, 6-distal joint axis,
7-a first driving wheel, 8-a second driving wheel, 9-a driving part,
10-a first connecting rod, 11-a second connecting rod, 12-a rotating shaft,
13-shifting block, 14-spring element, 15-object.
Detailed Description
The details of the structure and the operation principle of the present invention are further described in detail below with reference to the accompanying drawings and embodiments.
One embodiment of the under-actuated robot finger device with enveloping and clamping functions designed by the invention, as shown in fig. 1, fig. 2, fig. 3 and fig. 4, comprises a driver 1, a base 2, a first finger section 3, a second finger section 4, a proximal joint shaft 5, a distal joint shaft 6, a first transmission wheel 7, a second transmission wheel 8, a transmission part 9, a first connecting rod 10, a second connecting rod 11, a rotating shaft 12, a shifting block 13 and a spring part 14; the driver 1 is fixedly connected with the base 2, an output shaft of the driver 1 is connected with a first connecting rod 10, one end of the first connecting rod 10 is sleeved on the joint shaft 5, and the other end of the first connecting rod 10 is embedded with one end of a second connecting rod 11 in a sliding manner; the proximal joint shaft 5 is sleeved in the base; the first finger section 3 is movably sleeved on the proximal joint shaft 5; the far joint shaft 6 is movably sleeved in the first finger section 3; the second finger section 4 is fixedly sleeved on the distal joint shaft 6; the first driving wheel 7 is movably sleeved on the near joint shaft 5, and two ends of the spring element 14 are respectively connected with the first driving wheel 7 and the base 2; one end of the shifting block 13 is fixedly connected with the first transmission wheel 7, the other end of the shifting block is movably contacted with the base 2, and the spring piece 14 enables the shifting block 13 to lean against the base; the second transmission wheel 8 is fixedly sleeved on the far joint shaft 6; the rotating shaft 12 is sleeved on the second driving wheel 8, and the axis of the rotating shaft 12 is parallel to and does not coincide with the axis of the second driving wheel 8; setting the central point of the first driving wheel 7 as A, the central point of the second driving wheel 8 as B, the central point of the rotating shaft 12 as C, and the included angle formed by the line segment AB and the line segment BC to be more than 90 degrees; the other end of the second connecting rod 11 is sleeved on the rotating shaft 12; the transmission piece 9 is connected with the first transmission wheel 7 and the second transmission wheel 8.
The invention relates to an under-actuated robot finger device with enveloping and clamping functions, which is characterized in that: the driver 1 adopts a motor, an air cylinder or a hydraulic cylinder. In the present embodiment, the driver 1 is a motor.
The invention relates to an under-actuated robot finger device with enveloping and clamping functions, which is characterized in that: the spring element 14 is a tension spring, a compression spring, a leaf spring or a torsion spring. In the present embodiment, the spring member 14 is a torsion spring.
The invention relates to an under-actuated robot finger device with enveloping and clamping functions, which is characterized in that: the transmission part 9 adopts a transmission belt, a tendon rope or a chain, the first transmission wheel 7 adopts a belt wheel, a rope wheel or a chain wheel, the second transmission wheel 8 adopts a belt wheel, a rope wheel or a chain wheel, and the transmission part, the first transmission wheel and the second transmission wheel are matched to form a transmission relation. In this embodiment, the transmission member 9 is a transmission belt, the first transmission wheel 7 is a belt wheel, the second transmission wheel 8 is a belt wheel, and the transmission member, the first transmission wheel and the second transmission wheel are matched to form a transmission relationship.
In this embodiment, the sliding direction of the first and second connecting rods is parallel to the line segment AC.
The operation principle of the present embodiment, as shown in fig. 5, 6, 7, 8, 9, 10, 11 and 12, is described as follows:
the initial position of the device is shown in figures 5 and 8, in which the first finger section 3 is in a straightened state relative to the base 2 and the axis of the distal joint shaft 6 is fixed relative to the base 2; one end of the shifting block 13 is fixedly connected with the first driving wheel 7, the first driving wheel 7 is connected with the second driving wheel 8 through the driving part 9, the second driving wheel 8 is fixedly sleeved on the far joint shaft 6, and the second finger section 4 is fixedly sleeved on the far joint shaft 6, so that the position of the shifting block 13 relative to the base determines the position of the second finger section 4 relative to the base; the spring 14 forces the shifting block 13 to contact the base 2, so that the second finger section 4 is in a straightened state relative to the base 2; the whole finger is in a straightened state at this time.
The two grabbing modes of this embodiment are described as follows:
(a) second finger section translation object clamping process
When the robot finger device grabs an object 15, the motor 1 rotates forwards to drive the first connecting rod 10 to rotate through the speed reducer, the first connecting rod 10 drives the second connecting rod 11 to rotate through the movable embedding, and the second connecting rod 11 drives the second driving wheel 8 to move through the rotating shaft 12. In this embodiment, the first transmission wheel 7 and the second transmission wheel 8 are of equal diameter. Since the first transmission wheel 7 is stationary relative to the base 2 under the constraint of the spring 14 and the transmission wheel 9 constrains the second transmission wheel 8 to translate but not rotate, the first finger section 3 rotates relative to the base 2 and the second finger section 4 translates relative to the base 2 until the second finger section 4 contacts the object 15.
It will be explained that the second finger section 4 will always be held straight relative to the base after contacting the object 15. Under the reaction force of the object 15, the second finger section 4 has a reversion trend; the motor 1 restrains the position of the rotating shaft 12 through the speed reducing mechanism, the first connecting rod 10 and the second connecting rod 11; the reverse trend of the second finger section 4 makes the first driving wheel 7 generate a reverse trend through the driving part 9, and the constraint of the base 2 on the shifting block 13 prevents the first driving wheel 7 from reversing, so that the second finger section 4 keeps straight relative to the base 2 after contacting the object 15. In summary, the present embodiment realizes the translational clamping function under the condition that the object is not moved. The specific movement mode is shown in fig. 5, 6 and 7.
The process of releasing the object is the same as the process of grabbing the object, and the motor 1 rotates reversely to drive the first connecting rod 10, the second connecting rod 11 and the rotating shaft 12 to rotate reversely relative to the base 2; the base 2 forces the shifting block 13 to be static relative to the base 2, the first transmission wheel 7 is static relative to the base 2, and the second transmission wheel 8 translates relative to the base 2 under the constraint of the second transmission piece 9; the first finger section 3 is then inverted and the second finger section 4 is translated to release the object 15 and finally return to the initial straightened state of the finger.
(b) Adaptive object gripping process
When the robot finger device grabs an object 15, the motor 1 rotates forwards to drive the first connecting rod 10 to rotate through the speed reducer, the first connecting rod 10 drives the second connecting rod 11 to rotate through the movable embedding, and the second connecting rod 11 drives the second driving wheel 8 to move through the rotating shaft 12. In this embodiment, the first transmission wheel 7 and the second transmission wheel 8 are of equal diameter. Since the first transmission wheel 7 is stationary relative to the base 2 under the constraint of the spring 14 and the transmission wheel 9 constrains the second transmission wheel 8 to translate but not rotate, the first finger section 3 rotates relative to the base 2 and the second finger section 4 translates relative to the base 2 until the first finger section 3 contacts the object 15. The axis of the distal articulation shaft 6 can no longer move at this time and will then remain stationary relative to the base 2 at all times. The motor 1 continues to rotate forwards to drive the first connecting rod 10 and the second connecting rod 11 to rotate forwards relative to the base 2. Because the included angle formed by the line segment AB and the line segment BC is greater than 90 °, the second connecting rod 11 drives the rotating shaft 12 to rotate forward relative to the axis of the joint shaft 6, and then the second transmission wheel 8 rotates forward. The second transmission wheel 8 drives the first transmission wheel 7 to rotate forwards through the transmission piece 9, and the spring piece 14 is tensioned. The forward rotation of the second transmission wheel 8 can drive the far joint shaft 6 to rotate forward, and the far joint shaft 6 drives the second finger section 4 to rotate forward until the second finger section 4 contacts the object 15. The self-adaptive grabbing realizes the grabbing of objects with different shapes and sizes, and reduces the requirement on a control system. The process of adaptively holding an object is shown in fig. 8, 9, 10, 11, and 12.
The process of releasing the object is the same as the process of grabbing the object, and the motor 1 rotates reversely to drive the first connecting rod 10, the second connecting rod 11 and the rotating shaft 12 to rotate reversely relative to the base 2; the spring element 14 forces the first transmission wheel 7 to rotate reversely, the first transmission wheel 7 drives the second transmission wheel 8 to rotate reversely through the transmission element 9, and the reverse rotation of the second transmission wheel 8 causes the axis of the second transmission wheel 8 to generate a tendency of approaching the object 15 relative to the rotating shaft 12, so that the first finger section 3 always has a contact force with the object 15. Meanwhile, the second finger section 4 is driven to rotate reversely by the reverse rotation of the second transmission wheel 8 until the second finger section 4 is straightened relative to the base 2 (at this time, the shifting block 13 is in contact with the base 2). Then the motor 1 continuously rotates reversely, the base 2 forces the shifting block 13 to be static relative to the base 2, the first transmission wheel 7 is static relative to the base 2, and the second transmission wheel 8 translates relative to the base 2 under the constraint of the second transmission piece 9; the first finger section 3 is then inverted and the second finger section 4 is translated to release the object 15 and finally return to the initial straightened state of the finger.
The device comprehensively realizes the special function of parallel self-adaptive under-actuated object grabbing by utilizing a pair of transmission wheel mechanisms, a sliding embedded swinging double connecting rod, a sleeved movable middle finger section, a spring piece and the like. The device has multiple modes of grabbing: the inward holding or outward opening grabbing of the parallel opening and closing tail end finger sections is realized, and the self-adaptive grabbing can be realized; meanwhile, the grabbing range is large, the size is small, the appearance is humanoid, the flexibility is realized, the structure is simple and reliable, the cost is low, fewer drivers are used for driving more finger rotating joints, and a sensing and control system is not needed.
Claims (5)
1. An under-actuated robot finger device with enveloping and clamping functions comprises a base, a first finger section, a second finger section, a proximal joint shaft and a distal joint shaft; the method is characterized in that: the under-actuated robot finger device with the enveloping and clamping functions further comprises a driver, a first transmission wheel, a second transmission wheel, a transmission part, a first connecting rod, a second connecting rod, a rotating shaft, a shifting block and a spring part; the driver is fixedly connected with the base, an output shaft of the driver is connected with the first connecting rod, one end of the first connecting rod is sleeved on the near joint shaft, and the other end of the first connecting rod is embedded with one end of the second connecting rod in a sliding manner; the proximal joint shaft is sleeved in the base; the first finger section is movably sleeved on the proximal joint shaft; the far joint shaft is movably sleeved in the first finger section; the second finger section is fixedly sleeved on the distal joint shaft; the first driving wheel is movably sleeved on the near joint shaft, and two ends of the spring part are respectively connected with the first driving wheel and the base; one end of the shifting block is fixedly connected with the first transmission wheel, the other end of the shifting block is movably contacted with the base, and the spring piece enables the shifting block to lean against the base; the second driving wheel is fixedly sleeved on the far joint shaft; the rotating shaft is sleeved on the second driving wheel, and the axis of the rotating shaft is parallel to and does not coincide with the axis of the second driving wheel; setting the central point of the first driving wheel as A, the central point of the second driving wheel as B, the central point of the rotating shaft as C, and the included angle formed by the line segment AB and the line segment BC to be more than 90 degrees; the other end of the second connecting rod is sleeved on the rotating shaft; the transmission part is connected with the first transmission wheel and the second transmission wheel.
2. An under-actuated robotic finger device having an envelope and gripping function as claimed in claim 1, wherein: the driver adopts a motor, an air cylinder or a hydraulic cylinder.
3. An under-actuated robotic finger device having an envelope and gripping function as claimed in claim 1, wherein: the spring part adopts a tension spring, a pressure spring, a leaf spring or a torsion spring.
4. An under-actuated robotic finger device having an envelope and gripping function as claimed in claim 1, wherein: the transmission part adopts a transmission belt, a tendon rope or a chain, the first transmission wheel adopts a belt wheel, a rope wheel or a chain wheel, the second transmission wheel adopts a belt wheel, a rope wheel or a chain wheel, and the transmission part, the first transmission wheel and the second transmission wheel are matched to form a transmission relation.
5. An under-actuated robotic finger device having an envelope and gripping function as claimed in claim 1, wherein: the sliding embedding directions of the first connecting rod and the second connecting rod are parallel to the line segment AC.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510383164.1A CN104889998B (en) | 2015-07-03 | 2015-07-03 | Under-actuated robot finger device with enveloping and clamping functions |
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| CN201510383164.1A CN104889998B (en) | 2015-07-03 | 2015-07-03 | Under-actuated robot finger device with enveloping and clamping functions |
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| CN104889998B true CN104889998B (en) | 2021-02-02 |
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| CN105773647B (en) * | 2015-12-01 | 2018-07-06 | 清华大学 | Rack-and-pinion becomes grip elasticity linkage adaptive robot finger apparatus |
| CN105666508A (en) * | 2016-03-17 | 2016-06-15 | 清华大学 | Rod-wheel combined type coupling self-adapting under-actuated robot finger device |
| CN105583836B (en) * | 2016-03-17 | 2017-11-28 | 清华大学 | The parallel folding adaptive robot finger apparatus of bicyclic flexible piece |
| CN105798944B (en) * | 2016-03-17 | 2018-07-06 | 清华大学 | The flat folder adaptive robot finger apparatus of gear connecting rod transmission |
| CN105583832B (en) * | 2016-03-17 | 2017-11-28 | 清华大学 | The flat folder adaptive robot finger apparatus of closed loop flexible piece gear drive |
| CN105773643B (en) * | 2016-03-17 | 2018-06-29 | 清华大学 | Closed loop flexible piece fluid puts down folder adaptive robot finger apparatus |
| CN105583830B (en) * | 2016-03-17 | 2018-04-10 | 清华大学 | The flat folder adaptive robot finger apparatus of link gear |
| CN106041975B (en) * | 2016-06-27 | 2017-04-12 | 扬州金威环保科技有限公司 | Connecting rod type hydraulic clamping device |
| CN106182065B (en) * | 2016-07-08 | 2018-04-03 | 燕山大学 | Finger is changed hands in hard and soft series-parallel connection list driving three |
| CN106078781B (en) * | 2016-08-05 | 2018-11-30 | 广州市轻工职业学校 | The flat folder perception self-adaption robot finger apparatus of connecting rod belt wheel straight line |
| CN108189057B (en) * | 2017-11-29 | 2020-02-11 | 清华大学 | Fluid acceleration tail end telescopic linear parallel clamping self-adaptive robot finger device |
| CN110549357A (en) * | 2019-09-18 | 2019-12-10 | 何睿桐 | Fast enveloping grabbing parallel clamping self-adaptive robot finger device |
| CN113211477B (en) * | 2021-06-10 | 2022-05-06 | 哈尔滨工业大学 | Under-actuated finger with coupled adaptive motion characteristics |
| CN114770470B (en) * | 2022-04-21 | 2023-07-28 | 广东工业大学 | Bionic mechanical arm and bionic mechanical arm system |
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| CN103786161A (en) * | 2014-02-10 | 2014-05-14 | 上海交通大学 | Underactuated mechanical finger with self-adaption to shapes |
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| US8833827B2 (en) * | 2012-10-09 | 2014-09-16 | Willow Garage, Inc. | Kinetic and dimensional optimization for a tendon-driven gripper |
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| WO2012039479A1 (en) * | 2010-09-24 | 2012-03-29 | 国立大学法人岐阜大学 | Humanoid electric hand |
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